def updatePolygon(self, name, data_in):
if not self.initialized:
return
nact = self.nodedata[manager.sender()[0]]
if name in nact.polynames:
# We're either updating a polygon, or deleting it. In both cases
# we remove the current one.
nact.polydata = np.delete(nact.polydata, list(range(*nact.polynames[name])))
del nact.polynames[name]
# Break up polyline list of (lat,lon)s into separate line segments
if data_in is not None:
nact.polynames[name] = (len(nact.polydata), 2 * len(data_in))
newbuf = np.empty(2 * len(data_in), dtype=np.float32)
newbuf[0::4] = data_in[0::2] # lat
newbuf[1::4] = data_in[1::2] # lon
newbuf[2:-2:4] = data_in[2::2] # lat
newbuf[3:-3:4] = data_in[3::2] # lon
newbuf[-2:] = data_in[0:2]
nact.polydata = np.append(nact.polydata, newbuf)
# If the updated polygon buffer is also currently viewed, also send
# updates to the gpu buffer
if manager.sender()[0] == self.iactconn:
self.makeCurrent()
update_buffer(self.allpolysbuf, nact.polydata)
self.allpolys.set_vertex_count(int(len(nact.polydata) / 2))
def updatePolygon(self, name, data_in):
if not self.initialized:
return
nact = self.nodedata[manager.sender()[0]]
if name in nact.polynames:
# We're either updating a polygon, or deleting it. In both cases
# we remove the current one.
nact.polydata = np.delete(nact.polydata,
range(*nact.polynames[name]))
del nact.polynames[name]
# Break up polyline list of (lat,lon)s into separate line segments
if data_in is not None:
nact.polynames[name] = (len(nact.polydata), 2 * len(data_in))
newbuf = np.empty(2 * len(data_in), dtype=np.float32)
newbuf[0::4] = data_in[0::2] # lat
newbuf[1::4] = data_in[1::2] # lon
newbuf[2:-2:4] = data_in[2::2] # lat
newbuf[3:-3:4] = data_in[3::2] # lon
newbuf[-2:] = data_in[0:2]
nact.polydata = np.append(nact.polydata, newbuf)
# If the updated polygon buffer is also currently viewed, also send
# updates to the gpu buffer
if manager.sender()[0] == self.iactconn:
self.makeCurrent()
update_buffer(self.allpolysbuf, nact.polydata)
self.allpolys.set_vertex_count(len(nact.polydata) / 2)
def stack(self, text):
# Add command to the command history
self.command_history.append(text)
self.echo(text)
# Send stack command to sim process
manager.sendEvent(StackTextEvent(cmdtext=text))
self.cmdline_stacked.emit(self.cmd, self.args)
# reset commandline and the autocomplete history
self.setCmdline('')
autocomplete.reset()
def defwpt(self, wpdata):
if not self.initialized:
return
nact = self.nodedata[manager.sender()[0]]
nact.custwplbl += wpdata[0].ljust(5)
nact.custwplat = np.append(nact.custwplat, np.float32(wpdata[1]))
nact.custwplon = np.append(nact.custwplon, np.float32(wpdata[2]))
if manager.sender()[0] == self.iactconn:
self.makeCurrent()
update_buffer(self.custwplblbuf, np.array(nact.custwplbl))
update_buffer(self.custwplatbuf, nact.custwplat)
update_buffer(self.custwplonbuf, nact.custwplon)
self.ncustwpts = len(nact.custwplat)
def defwpt(self, wpdata):
if not self.initialized:
return
nact = self.nodedata[manager.sender()[0]]
nact.custwplbl += wpdata[0].ljust(5)
nact.custwplat = np.append(nact.custwplat, np.float32(wpdata[1]))
nact.custwplon = np.append(nact.custwplon, np.float32(wpdata[2]))
if manager.sender()[0] == self.iactconn:
self.makeCurrent()
update_buffer(self.custwplblbuf, np.array(nact.custwplbl))
update_buffer(self.custwplatbuf, nact.custwplat)
update_buffer(self.custwplonbuf, nact.custwplon)
self.ncustwpts = len(nact.custwplat)
def MainLoop():
if node_only:
runNode()
else:
# ======================================================================
# Create gui and simulation objects
# ======================================================================
global navdb, manager, gui
manager = MainManager()
gui = Gui()
navdb = Navdatabase('global') # Read database from specified folder
telnet_in = StackTelnetServer()
sim = Simulation(manager)
# Initialize the gui (loading graphics data, etc.)
gui.init(navdb)
# Start the node manager
manager.start()
# Start the telnet input server for stack commands
telnet_in.listen(port=settings.telnet_port)
# Start the gui
gui.start()
print 'Stopping telnet server.'
telnet_in.close()
# Close the manager, stop all nodes
manager.stop()
sim.quit()
# ======================================================================
# Clean up before exit. Comment this out when debugging for checking
# variables in the shell.
# ======================================================================
del gui
print 'BlueSky normal end.'
def clearNodeData(self):
if not self.initialized:
return
# Clear all data for sender node
nact = self.nodedata[manager.sender()[0]]
nact.polynames.clear()
nact.polydata = np.array([], dtype=np.float32)
nact.custwplbl = ''
nact.custwplat = np.array([], dtype=np.float32)
nact.custwplon = np.array([], dtype=np.float32)
# Clear trail data
nact.traillat0 = []
nact.traillon0 = []
nact.traillat1 = []
nact.traillon1 = []
# If the updated polygon buffer is also currently viewed, also send
# updates to the gpu buffer
if manager.sender()[0] == self.iactconn:
self.allpolys.set_vertex_count(0)
self.traillines.set_vertex_count(0)
self.ncustwpts = 0
def clearNodeData(self):
if not self.initialized:
return
# Clear all data for sender node
nact = self.nodedata[manager.sender()[0]]
nact.polynames.clear()
nact.polydata = np.array([], dtype=np.float32)
nact.custwplbl = ''
nact.custwplat = np.array([], dtype=np.float32)
nact.custwplon = np.array([], dtype=np.float32)
# Clear trail data
nact.traillat0 = []
nact.traillon0 = []
nact.traillat1 = []
nact.traillon1 = []
# If the updated polygon buffer is also currently viewed, also send
# updates to the gpu buffer
if manager.sender()[0] == self.iactconn:
self.allpolys.set_vertex_count(0)
self.traillines.set_vertex_count(0)
self.ncustwpts = 0
def setCmdline(self, text):
if self.command_line == text:
return
self.command_line = text
self.cmd, self.args = cmdsplit(self.command_line)
hintline = ''
allhints = node_stacks.get(manager.actnode())
if allhints:
hint = allhints.get(self.cmd)
if hint:
if len(self.args) > 0:
hintargs = hint.split(',')
hintline = ' ' + str.join(',', hintargs[len(self.args):])
else:
hintline = ' ' + hint
self.lineEdit.setHtml('>>' + self.command_line + '<font color="#aaaaaa">' + hintline + '</font>')
def MainLoop():
if node_only:
runNode()
else:
# ======================================================================
# Create gui and simulation objects
# ======================================================================
global navdb, manager, gui
manager = MainManager()
gui = Gui()
navdb = Navdatabase('global') # Read database from specified folder
telnet_in = StackTelnetServer()
# Initialize the gui (loading graphics data, etc.)
gui.init(navdb)
# Start the node manager
manager.start()
# Start the telnet input server for stack commands
telnet_in.listen(port=settings.telnet_port)
# Start the gui
gui.start()
print 'Stopping telnet server.'
telnet_in.close()
# Close the manager, stop all nodes
manager.stop()
# ======================================================================
# Clean up before exit. Comment this out when debugging for checking
# variables in the shell.
# ======================================================================
del gui
print 'BlueSky normal end.'
def notify(self, receiver, event):
# Keep track of event processing
event_processed = False
# Events from the simulation threads
if receiver is self:
if event.type() == PanZoomEventType:
if event.zoom is not None:
event.origin = (self.radarwidget.width / 2,
self.radarwidget.height / 2)
if event.pan is not None and not event.absolute:
event.pan = (
2.0 * event.pan[0] /
(self.radarwidget.zoom * self.radarwidget.ar),
2.0 * event.pan[1] /
(self.radarwidget.zoom * self.radarwidget.flat_earth))
# send the pan/zoom event to the radarwidget
self.radarwidget.event(event)
elif event.type() == ACDataEventType:
self.acdata = event
self.radarwidget.update_aircraft_data(event)
if self.nd.ac_id in event.id:
idx = event.id.index(self.nd.ac_id.upper())
lat = event.lat[idx]
lon = event.lon[idx]
trk = event.trk[idx]
tas = event.tas[idx]
self.nd.update_aircraft_data(idx, lat, lon, tas, trk,
len(event.lat))
return True
elif event.type() == RouteDataEventType:
self.routedata = event
self.radarwidget.update_route_data(event)
return True
elif event.type() == DisplayShapeEventType:
self.radarwidget.updatePolygon(event.name, event.data)
elif event.type() == SimInfoEventType:
simt = tim2txt(event.simt)[:-3]
simtclock = tim2txt(event.simtclock)[:-3]
self.win.setNodeInfo(manager.sender()[0], simt, event.scenname)
if manager.sender()[0] == manager.actnode():
self.simt = event.simt
self.win.siminfoLabel.setText(
u'<b>t:</b> %s, <b>\u0394t:</b> %.2f, <b>Speed:</b> %.1fx, <b>UTC:</b> %s, <b>Mode:</b> %s, <b>Aircraft:</b> %d, <b>Conflicts:</b> %d/%d, <b>LoS:</b> %d/%d'
% (simt, event.simdt, event.sys_freq, simtclock,
self.modes[event.mode], event.n_ac,
self.acdata.nconf_cur, self.acdata.nconf_tot,
self.acdata.nlos_cur, self.acdata.nlos_tot))
return True
elif event.type() == StackTextEventType:
event_processed = True
if event.disptext:
self.win.console.echo(event.disptext)
if event.cmdtext:
self.win.console.setCmdline(event.cmdtext)
elif event.type() == StackInitEventType:
event_processed = True
self.win.console.addStackHelp(manager.sender()[0],
event.stackdict)
elif event.type() == ShowDialogEventType:
if event.dialog_type == event.filedialog_type:
self.show_file_dialog()
elif event.dialog_type == event.docwin_type:
self.show_doc_window(event.cmd)
return True
elif event.type() == DisplayFlagEventType:
# Switch/toggle/cycle radar screen features e.g. from SWRAD command
if event.switch == 'RESET':
self.radarwidget.clearNodeData()
# Coastlines
elif event.switch == "GEO":
self.radarwidget.show_coast = not self.radarwidget.show_coast
# FIR boundaries
elif event.switch == "FIR":
self.radarwidget.showfir = not self.radarwidget.showfir
# Airport: 0 = None, 1 = Large, 2= All
elif event.switch == "APT":
self.radarwidget.show_apt = not self.radarwidget.show_apt
# Waypoint: 0 = None, 1 = VOR, 2 = also WPT, 3 = Also terminal area wpts
elif event.switch == "VOR" or event.switch == "WPT" or event.switch == "WP" or event.switch == "NAV":
self.radarwidget.show_apt = not self.radarwidget.show_apt
# Satellite image background on/off
elif event.switch == "SAT":
self.radarwidget.show_map = not self.radarwidget.show_map
# Satellite image background on/off
elif event.switch == "TRAF":
self.radarwidget.show_traf = not self.radarwidget.show_traf
# ND window for selected aircraft
elif event.switch == "ND":
self.nd.setAircraftID(event.argument)
self.nd.setVisible(not self.nd.isVisible())
elif event.switch == "SSD":
self.radarwidget.show_ssd(event.argument)
elif event.switch == "SYM":
# For now only toggle PZ
self.radarwidget.show_pz = not self.radarwidget.show_pz
elif event.switch == "DEFWPT":
self.radarwidget.defwpt(event.argument)
elif event.switch == "FILTERALT":
# First argument is an on/off flag
nact = self.radarwidget.nodedata[manager.sender()[0]]
if event.argument[0]:
nact.filteralt = event.argument[1:]
else:
nact.filteralt = False
return True
elif event.type() == AMANEventType:
# self.aman.update(self.simt, event)
pass
# Mouse/trackpad event handling for the Radar widget
elif receiver is self.radarwidget and self.radarwidget.initialized:
panzoom = None
if event.type() == QEvent.Wheel:
# For mice we zoom with control/command and the scrolwheel
if event.modifiers() & Qt.ControlModifier:
origin = (event.pos().x(), event.pos().y())
zoom = 1.0
try:
if event.pixelDelta():
# High resolution scroll
zoom *= (1.0 + 0.01 * event.pixelDelta().y())
else:
# Low resolution scroll
zoom *= (1.0 + 0.001 * event.angleDelta().y())
except:
zoom *= (1.0 + 0.001 * event.delta())
panzoom = PanZoomEvent(zoom=zoom, origin=origin)
# For touchpad scroll (2D) is used for panning
else:
try:
dlat = 0.01 * event.pixelDelta().y() / (
self.radarwidget.zoom * self.radarwidget.ar)
dlon = -0.01 * event.pixelDelta().x() / (
self.radarwidget.zoom *
self.radarwidget.flat_earth)
panzoom = PanZoomEvent(pan=(dlat, dlon))
except:
pass
# For touchpad, pinch gesture is used for zoom
elif event.type() == QEvent.Gesture:
zoom = None
pan = None
dlat = 0.0
dlon = 0.0
for g in event.gestures():
if g.gestureType() == Qt.PinchGesture:
if zoom is None:
zoom = 1.0
zoom *= g.scaleFactor()
if correct_pinch:
zoom /= g.lastScaleFactor()
elif g.gestureType() == Qt.PanGesture:
if abs(g.delta().y() + g.delta().x()) > 1e-1:
dlat += 0.005 * g.delta().y() / (
self.radarwidget.zoom * self.radarwidget.ar)
dlon -= 0.005 * g.delta().x() / (
self.radarwidget.zoom *
self.radarwidget.flat_earth)
pan = (dlat, dlon)
if pan is not None or zoom is not None:
panzoom = PanZoomEvent(pan, zoom, self.mousepos)
elif event.type(
) == QEvent.MouseButtonPress and event.button() & Qt.LeftButton:
event_processed = True
self.mousedragged = False
# For mice we pan with control/command and mouse movement. Mouse button press marks the beginning of a pan
self.prevmousepos = (event.x(), event.y())
elif event.type() == QEvent.MouseButtonRelease and event.button(
) & Qt.LeftButton and not self.mousedragged:
event_processed = True
lat, lon = self.radarwidget.pixelCoordsToLatLon(
event.x(), event.y())
tostack, tocmdline = radarclick(self.win.console.command_line,
lat, lon, self.acdata,
self.routedata)
if len(tocmdline) > 0:
if '\n' in tocmdline:
self.win.console.setCmdline('')
# Clear any shape command preview on the radar display
self.radarwidget.previewpoly(None)
else:
self.win.console.appendCmdline(tocmdline)
if len(tostack) > 0:
self.win.console.stack(tostack)
elif event.type() == QEvent.MouseMove:
event_processed = True
self.mousedragged = True
self.mousepos = (event.x(), event.y())
if event.buttons() & Qt.LeftButton:
dlat = 0.003 * (event.y() - self.prevmousepos[1]) / (
self.radarwidget.zoom * self.radarwidget.ar)
dlon = 0.003 * (self.prevmousepos[0] - event.x()) / (
self.radarwidget.zoom * self.radarwidget.flat_earth)
self.prevmousepos = (event.x(), event.y())
panzoom = PanZoomEvent(pan=(dlat, dlon))
# Update pan/zoom to simulation thread only when the pan/zoom gesture is finished
elif (event.type() == QEvent.MouseButtonRelease
or event.type() == QEvent.TouchEnd) and self.panzoomchanged:
self.panzoomchanged = False
manager.sendEvent(
PanZoomEvent(pan=(self.radarwidget.panlat,
self.radarwidget.panlon),
zoom=self.radarwidget.zoom,
absolute=True))
# If we've just processed a change to pan and/or zoom, send the event to the radarwidget
if panzoom is not None:
self.panzoomchanged = True
return self.radarwidget.event(panzoom)
# Send all key presses directly to the main window
if event.type() == QEvent.KeyPress:
self.win.keyPressEvent(event)
return True
# If we haven't processed the event: call Base Class Method to Continue Normal Event Processing
if not event_processed:
return super(Gui, self).notify(receiver, event)
if self.win.console.cmd in [
'AREA', 'BOX', 'POLY', 'POLYALT', 'POLYGON', 'CIRCLE', 'LINE'
]:
if self.mousepos != self.prevmousepos and len(
self.win.console.args) >= 2:
self.prevmousepos = self.mousepos
try:
# get the largest even number of points
start = 0 if self.win.console.cmd == 'AREA' else 3 if self.win.console.cmd == 'POLYALT' else 1
end = (
(len(self.win.console.args) - start) / 2) * 2 + start
data = [float(v) for v in self.win.console.args[start:end]]
data += self.radarwidget.pixelCoordsToLatLon(
*self.mousepos)
self.radarwidget.previewpoly(self.win.console.cmd, data)
except ValueError:
pass
event.accept()
return True
def buttonClicked(self):
if self.sender() == self.shownodes:
vis = not self.nodetree.isVisible()
self.nodetree.setVisible(vis)
self.shownodes.setText('>' if vis else '<')
if self.sender() == self.zoomin:
self.app.notify(self.app, PanZoomEvent(zoom=1.4142135623730951))
elif self.sender() == self.zoomout:
self.app.notify(self.app, PanZoomEvent(zoom=0.70710678118654746))
elif self.sender() == self.pandown:
self.app.notify(self.app, PanZoomEvent(pan=(-0.5, 0.0)))
elif self.sender() == self.panup:
self.app.notify(self.app, PanZoomEvent(pan=(0.5, 0.0)))
elif self.sender() == self.panleft:
self.app.notify(self.app, PanZoomEvent(pan=(0.0, -0.5)))
elif self.sender() == self.panright:
self.app.notify(self.app, PanZoomEvent(pan=(0.0, 0.5)))
elif self.sender() == self.ic:
self.app.show_file_dialog()
elif self.sender() == self.sameic:
manager.sendEvent(StackTextEvent(cmdtext='IC IC'))
elif self.sender() == self.hold:
manager.sendEvent(StackTextEvent(cmdtext='HOLD'))
elif self.sender() == self.op:
manager.sendEvent(StackTextEvent(cmdtext='OP'))
elif self.sender() == self.fast:
manager.sendEvent(StackTextEvent(cmdtext='FF'))
elif self.sender() == self.fast10:
manager.sendEvent(StackTextEvent(cmdtext='FF 0:0:10'))
elif self.sender() == self.showac:
self.radarwidget.show_traf = not self.radarwidget.show_traf
elif self.sender() == self.showpz:
self.radarwidget.show_pz = not self.radarwidget.show_pz
elif self.sender() == self.showapt:
if self.radarwidget.show_apt < 3:
self.radarwidget.show_apt += 1
else:
self.radarwidget.show_apt = 0
elif self.sender() == self.showwpt:
if self.radarwidget.show_wpt < 2:
self.radarwidget.show_wpt += 1
else:
self.radarwidget.show_wpt = 0
elif self.sender() == self.showlabels:
self.radarwidget.show_lbl = not self.radarwidget.show_lbl
elif self.sender() == self.showmap:
self.radarwidget.show_map = not self.radarwidget.show_map
elif self.sender() == self.action_Save:
manager.sendEvent(StackTextEvent(cmdtext='SAVEIC'))
def update_aircraft_data(self, data):
if not self.initialized:
return
self.makeCurrent()
curnode = self.nodedata[self.iactconn]
if curnode.filteralt:
idx = np.where((data.alt >= curnode.filteralt[0]) *
(data.alt <= curnode.filteralt[1]))
data.lat = data.lat[idx]
data.lon = data.lon[idx]
data.trk = data.trk[idx]
data.alt = data.alt[idx]
data.tas = data.tas[idx]
self.naircraft = len(data.lat)
if self.naircraft == 0:
self.cpalines.set_vertex_count(0)
else:
# Update data in GPU buffers
update_buffer(self.aclatbuf, np.array(data.lat, dtype=np.float32))
update_buffer(self.aclonbuf, np.array(data.lon, dtype=np.float32))
update_buffer(self.achdgbuf, np.array(data.trk, dtype=np.float32))
update_buffer(self.acaltbuf, np.array(data.alt, dtype=np.float32))
update_buffer(self.actasbuf, np.array(data.tas, dtype=np.float32))
# CPA lines to indicate conflicts
ncpalines = len(data.confcpalat)
cpalines = np.zeros(4 * ncpalines, dtype=np.float32)
self.cpalines.set_vertex_count(2 * ncpalines)
# Labels and colors
rawlabel = ''
color = np.empty((self.naircraft, 4), dtype=np.uint8)
selssd = np.zeros(self.naircraft, dtype=np.uint8)
for i, acid in enumerate(data.id):
# Make label: 3 lines of 8 characters per aircraft
if data.alt[i] <= 4500. * ft:
rawlabel += '%-8s%-5d %-8d' % (
acid[:8], int(data.alt[i] / ft + 0.5),
int(data.cas[i] / kts + 0.5))
else:
rawlabel += '%-8sFL%03d %-8d' % (
acid[:8], int(data.alt[i] / ft / 100. + 0.5),
int(data.cas[i] / kts + 0.5))
confindices = data.iconf[i]
if len(confindices) > 0:
if self.ssd_conflicts:
selssd[i] = 255
color[i, :] = amber + (255, )
for confidx in confindices:
cpalines[4 * confidx:4 * confidx + 4] = [
data.lat[i], data.lon[i], data.confcpalat[confidx],
data.confcpalon[confidx]
]
else:
color[i, :] = green + (255, )
# Check if aircraft is selected to show SSD
if acid in self.ssd_ownship:
selssd[i] = 255
if len(self.ssd_ownship) > 0 or self.ssd_conflicts:
update_buffer(self.ssd.selssdbuf, selssd)
update_buffer(self.confcpabuf, cpalines)
update_buffer(self.accolorbuf, color)
update_buffer(self.aclblbuf, np.array(rawlabel, dtype=np.string_))
# If there is a visible route, update the start position
if self.route_acid != "":
if self.route_acid in data.id:
idx = data.id.index(self.route_acid)
update_buffer(
self.routebuf,
np.array([data.lat[idx], data.lon[idx]],
dtype=np.float32))
nact = self.nodedata[manager.sender()[0]]
# Update trails database with new lines
if data.swtrails:
nact.traillat0.extend(data.traillat0)
nact.traillon0.extend(data.traillon0)
nact.traillat1.extend(data.traillat1)
nact.traillon1.extend(data.traillon1)
update_buffer(
self.trailbuf,
np.array(zip(nact.traillat0, nact.traillon0,
nact.traillat1, nact.traillon1) +
zip(data.traillastlat, data.traillastlon,
list(data.lat), list(data.lon)),
dtype=np.float32))
self.traillines.set_vertex_count(2 * len(nact.traillat0) +
2 * len(data.lat))
else:
nact.traillat0 = []
nact.traillon0 = []
nact.traillat1 = []
nact.traillon1 = []
self.traillines.set_vertex_count(0)
def notify(self, receiver, event):
# Keep track of event processing
event_processed = False
# Events from the simulation threads
if receiver is self:
if event.type() == PanZoomEventType:
if event.zoom is not None:
event.origin = (self.radarwidget.width / 2, self.radarwidget.height / 2)
if event.pan is not None and not event.absolute:
event.pan = (2.0 * event.pan[0] / (self.radarwidget.zoom * self.radarwidget.ar),
2.0 * event.pan[1] / (self.radarwidget.zoom * self.radarwidget.flat_earth))
# send the pan/zoom event to the radarwidget
self.radarwidget.event(event)
elif event.type() == ACDataEventType:
self.acdata = event
self.radarwidget.update_aircraft_data(event)
if self.nd.ac_id in event.id:
idx = event.id.index(self.nd.ac_id.upper())
lat = event.lat[idx]
lon = event.lon[idx]
trk = event.trk[idx]
tas = event.tas[idx]
self.nd.update_aircraft_data(idx, lat, lon, tas, trk, len(event.lat))
return True
elif event.type() == RouteDataEventType:
self.routedata = event
self.radarwidget.update_route_data(event)
return True
elif event.type() == DisplayShapeEventType:
self.radarwidget.updatePolygon(event.name, event.data)
elif event.type() == SimInfoEventType:
simt = tim2txt(event.simt)[:-3]
simtclock = tim2txt(event.simtclock)[:-3]
self.win.setNodeInfo(manager.sender()[0], simt, event.scenname)
if manager.sender()[0] == manager.actnode():
self.simt = event.simt
self.win.siminfoLabel.setText(u'<b>t:</b> %s, <b>\u0394t:</b> %.2f, <b>Speed:</b> %.1fx, <b>UTC:</b> %s, <b>Mode:</b> %s, <b>Aircraft:</b> %d, <b>Conflicts:</b> %d/%d, <b>LoS:</b> %d/%d'
% (simt, event.simdt, event.sys_freq, simtclock, self.modes[event.mode], event.n_ac, self.acdata.nconf_cur, self.acdata.nconf_tot, self.acdata.nlos_cur, self.acdata.nlos_tot))
return True
elif event.type() == StackTextEventType:
event_processed = True
if event.disptext:
self.win.console.echo(event.disptext)
if event.cmdtext:
self.win.console.setCmdline(event.cmdtext)
elif event.type() == StackInitEventType:
event_processed = True
self.win.console.addStackHelp(manager.sender()[0], event.stackdict)
elif event.type() == ShowDialogEventType:
if event.dialog_type == event.filedialog_type:
self.show_file_dialog()
elif event.dialog_type == event.docwin_type:
self.show_doc_window(event.cmd)
return True
elif event.type() == DisplayFlagEventType:
# Switch/toggle/cycle radar screen features e.g. from SWRAD command
if event.switch == 'RESET':
self.radarwidget.clearNodeData()
# Coastlines
elif event.switch == "GEO":
self.radarwidget.show_coast = not self.radarwidget.show_coast
# FIR boundaries
elif event.switch == "FIR":
self.radarwidget.showfir = not self.radarwidget.showfir
# Airport: 0 = None, 1 = Large, 2= All
elif event.switch == "APT":
self.radarwidget.show_apt = not self.radarwidget.show_apt
# Waypoint: 0 = None, 1 = VOR, 2 = also WPT, 3 = Also terminal area wpts
elif event.switch == "VOR" or event.switch == "WPT" or event.switch == "WP" or event.switch == "NAV":
self.radarwidget.show_apt = not self.radarwidget.show_apt
# Satellite image background on/off
elif event.switch == "SAT":
self.radarwidget.show_map = not self.radarwidget.show_map
# Satellite image background on/off
elif event.switch == "TRAF":
self.radarwidget.show_traf = not self.radarwidget.show_traf
# ND window for selected aircraft
elif event.switch == "ND":
self.nd.setAircraftID(event.argument)
self.nd.setVisible(not self.nd.isVisible())
elif event.switch == "SSD":
self.radarwidget.show_ssd(event.argument)
elif event.switch == "SYM":
# For now only toggle PZ
self.radarwidget.show_pz = not self.radarwidget.show_pz
elif event.switch == "DEFWPT":
self.radarwidget.defwpt(event.argument)
elif event.switch == "FILTERALT":
# First argument is an on/off flag
nact = self.radarwidget.nodedata[manager.sender()[0]]
if event.argument[0]:
nact.filteralt = event.argument[1:]
else:
nact.filteralt = False
return True
elif event.type() == AMANEventType:
# self.aman.update(self.simt, event)
pass
# Mouse/trackpad event handling for the Radar widget
elif receiver is self.radarwidget and self.radarwidget.initialized:
panzoom = None
if event.type() == QEvent.Wheel:
# For mice we zoom with control/command and the scrolwheel
if event.modifiers() & Qt.ControlModifier:
origin = (event.pos().x(), event.pos().y())
zoom = 1.0
try:
if event.pixelDelta():
# High resolution scroll
zoom *= (1.0 + 0.01 * event.pixelDelta().y())
else:
# Low resolution scroll
zoom *= (1.0 + 0.001 * event.angleDelta().y())
except:
zoom *= (1.0 + 0.001 * event.delta())
panzoom = PanZoomEvent(zoom=zoom, origin=origin)
# For touchpad scroll (2D) is used for panning
else:
try:
dlat = 0.01 * event.pixelDelta().y() / (self.radarwidget.zoom * self.radarwidget.ar)
dlon = -0.01 * event.pixelDelta().x() / (self.radarwidget.zoom * self.radarwidget.flat_earth)
panzoom = PanZoomEvent(pan=(dlat, dlon))
except:
pass
# For touchpad, pinch gesture is used for zoom
elif event.type() == QEvent.Gesture:
zoom = None
pan = None
dlat = 0.0
dlon = 0.0
for g in event.gestures():
if g.gestureType() == Qt.PinchGesture:
if zoom is None:
zoom = 1.0
zoom *= g.scaleFactor()
if correct_pinch:
zoom /= g.lastScaleFactor()
elif g.gestureType() == Qt.PanGesture:
if abs(g.delta().y() + g.delta().x()) > 1e-1:
dlat += 0.005 * g.delta().y() / (self.radarwidget.zoom * self.radarwidget.ar)
dlon -= 0.005 * g.delta().x() / (self.radarwidget.zoom * self.radarwidget.flat_earth)
pan = (dlat, dlon)
if pan is not None or zoom is not None:
panzoom = PanZoomEvent(pan, zoom, self.mousepos)
elif event.type() == QEvent.MouseButtonPress and event.button() & Qt.LeftButton:
event_processed = True
self.mousedragged = False
# For mice we pan with control/command and mouse movement. Mouse button press marks the beginning of a pan
self.prevmousepos = (event.x(), event.y())
elif event.type() == QEvent.MouseButtonRelease and event.button() & Qt.LeftButton and not self.mousedragged:
event_processed = True
lat, lon = self.radarwidget.pixelCoordsToLatLon(event.x(), event.y())
tostack, tocmdline = radarclick(self.win.console.command_line, lat, lon, self.acdata, self.routedata)
if len(tocmdline) > 0:
if '\n' in tocmdline:
self.win.console.setCmdline('')
# Clear any shape command preview on the radar display
self.radarwidget.previewpoly(None)
else:
self.win.console.appendCmdline(tocmdline)
if len(tostack) > 0:
self.win.console.stack(tostack)
elif event.type() == QEvent.MouseMove:
event_processed = True
self.mousedragged = True
self.mousepos = (event.x(), event.y())
if event.buttons() & Qt.LeftButton:
dlat = 0.003 * (event.y() - self.prevmousepos[1]) / (self.radarwidget.zoom * self.radarwidget.ar)
dlon = 0.003 * (self.prevmousepos[0] - event.x()) / (self.radarwidget.zoom * self.radarwidget.flat_earth)
self.prevmousepos = (event.x(), event.y())
panzoom = PanZoomEvent(pan=(dlat, dlon))
# Update pan/zoom to simulation thread only when the pan/zoom gesture is finished
elif (event.type() == QEvent.MouseButtonRelease or event.type() == QEvent.TouchEnd) and self.panzoomchanged:
self.panzoomchanged = False
manager.sendEvent(PanZoomEvent( pan=(self.radarwidget.panlat, self.radarwidget.panlon),
zoom=self.radarwidget.zoom, absolute=True))
# If we've just processed a change to pan and/or zoom, send the event to the radarwidget
if panzoom is not None:
self.panzoomchanged = True
return self.radarwidget.event(panzoom)
# Send all key presses directly to the main window
if event.type() == QEvent.KeyPress:
self.win.keyPressEvent(event)
return True
# If we haven't processed the event: call Base Class Method to Continue Normal Event Processing
if not event_processed:
return super(Gui, self).notify(receiver, event)
if self.win.console.cmd in ['AREA', 'BOX', 'POLY', 'POLYALT', 'POLYGON', 'CIRCLE', 'LINE']:
if self.mousepos != self.prevmousepos and len(self.win.console.args) >= 2:
self.prevmousepos = self.mousepos
try:
# get the largest even number of points
start = 0 if self.win.console.cmd == 'AREA' else 3 if self.win.console.cmd == 'POLYALT' else 1
end = ((len(self.win.console.args) - start) // 2) * 2 + start
data = [float(v) for v in self.win.console.args[start:end]]
data += self.radarwidget.pixelCoordsToLatLon(*self.mousepos)
self.radarwidget.previewpoly(self.win.console.cmd, data)
except ValueError:
pass
event.accept()
return True
def buttonClicked(self):
if self.sender() == self.shownodes:
vis = not self.nodetree.isVisible()
self.nodetree.setVisible(vis)
self.shownodes.setText('>' if vis else '<')
if self.sender() == self.zoomin:
self.app.notify(self.app, PanZoomEvent(zoom=1.4142135623730951))
elif self.sender() == self.zoomout:
self.app.notify(self.app, PanZoomEvent(zoom=0.70710678118654746))
elif self.sender() == self.pandown:
self.app.notify(self.app, PanZoomEvent(pan=(-0.5, 0.0)))
elif self.sender() == self.panup:
self.app.notify(self.app, PanZoomEvent(pan=( 0.5, 0.0)))
elif self.sender() == self.panleft:
self.app.notify(self.app, PanZoomEvent(pan=( 0.0, -0.5)))
elif self.sender() == self.panright:
self.app.notify(self.app, PanZoomEvent(pan=( 0.0, 0.5)))
elif self.sender() == self.ic:
self.app.show_file_dialog()
elif self.sender() == self.sameic:
manager.sendEvent(StackTextEvent(cmdtext='IC IC'))
elif self.sender() == self.hold:
manager.sendEvent(StackTextEvent(cmdtext='HOLD'))
elif self.sender() == self.op:
manager.sendEvent(StackTextEvent(cmdtext='OP'))
elif self.sender() == self.fast:
manager.sendEvent(StackTextEvent(cmdtext='FF'))
elif self.sender() == self.fast10:
manager.sendEvent(StackTextEvent(cmdtext='FF 0:0:10'))
elif self.sender() == self.showac:
self.radarwidget.show_traf = not self.radarwidget.show_traf
elif self.sender() == self.showpz:
self.radarwidget.show_pz = not self.radarwidget.show_pz
elif self.sender() == self.showapt:
if self.radarwidget.show_apt < 3:
self.radarwidget.show_apt += 1
else:
self.radarwidget.show_apt = 0
elif self.sender() == self.showwpt:
if self.radarwidget.show_wpt < 2:
self.radarwidget.show_wpt += 1
else:
self.radarwidget.show_wpt = 0
elif self.sender() == self.showlabels:
self.radarwidget.show_lbl -= 1
if self.radarwidget.show_lbl < 0:
self.radarwidget.show_lbl = 2
elif self.sender() == self.showmap:
self.radarwidget.show_map = not self.radarwidget.show_map
elif self.sender() == self.action_Save:
manager.sendEvent(StackTextEvent(cmdtext='SAVEIC'))
def update_aircraft_data(self, data):
if not self.initialized:
return
self.makeCurrent()
curnode = self.nodedata[self.iactconn]
if curnode.filteralt:
idx = np.where((data.alt >= curnode.filteralt[0]) * (data.alt <= curnode.filteralt[1]))
data.lat = data.lat[idx]
data.lon = data.lon[idx]
data.trk = data.trk[idx]
data.alt = data.alt[idx]
data.tas = data.tas[idx]
data.vs = data.vs[idx]
self.naircraft = len(data.lat)
if self.naircraft == 0:
self.cpalines.set_vertex_count(0)
else:
# Update data in GPU buffers
update_buffer(self.aclatbuf, np.array(data.lat, dtype=np.float32))
update_buffer(self.aclonbuf, np.array(data.lon, dtype=np.float32))
update_buffer(self.achdgbuf, np.array(data.trk, dtype=np.float32))
update_buffer(self.acaltbuf, np.array(data.alt, dtype=np.float32))
update_buffer(self.actasbuf, np.array(data.tas, dtype=np.float32))
# CPA lines to indicate conflicts
ncpalines = len(data.confcpalat)
cpalines = np.zeros(4 * ncpalines, dtype=np.float32)
self.cpalines.set_vertex_count(2 * ncpalines)
# Labels and colors
rawlabel = ''
color = np.empty((self.naircraft, 4), dtype=np.uint8)
selssd = np.zeros(self.naircraft, dtype=np.uint8)
for i, acid in enumerate(data.id):
vs = 30 if data.vs[i] > 0.25 else 31 if data.vs[i] < -0.25 else 32
# Make label: 3 lines of 8 characters per aircraft
if self.show_lbl >= 1:
rawlabel += '%-8s' % acid[:8]
if self.show_lbl == 2:
if data.alt[i] <= 4500. * ft:
rawlabel += '%-5d' % int(data.alt[i]/ft + 0.5)
else:
rawlabel += 'FL%03d' % int(data.alt[i]/ft/100.+0.5)
rawlabel += '%1s %-8d' % (chr(vs), int(data.cas[i] / kts+0.5))
else:
rawlabel += 16 * ' '
confindices = data.iconf[i]
if len(confindices) > 0:
if self.ssd_conflicts:
selssd[i] = 255
color[i, :] = palette.conflict + (255,)
for confidx in confindices:
cpalines[4 * confidx : 4 * confidx + 4] = [ data.lat[i], data.lon[i],
data.confcpalat[confidx], data.confcpalon[confidx]]
else:
color[i, :] = palette.aircraft + (255,)
# Check if aircraft is selected to show SSD
if acid in self.ssd_ownship:
selssd[i] = 255
if len(self.ssd_ownship) > 0 or self.ssd_conflicts:
update_buffer(self.ssd.selssdbuf, selssd)
update_buffer(self.confcpabuf, cpalines)
update_buffer(self.accolorbuf, color)
update_buffer(self.aclblbuf, np.array(rawlabel.encode('utf8'), dtype=np.string_))
# If there is a visible route, update the start position
if self.route_acid != "":
if self.route_acid in data.id:
idx = data.id.index(self.route_acid)
update_buffer(self.routebuf,
np.array([data.lat[idx], data.lon[idx]], dtype=np.float32))
nact = self.nodedata[manager.sender()[0]]
# Update trails database with new lines
if data.swtrails:
nact.traillat0.extend(data.traillat0)
nact.traillon0.extend(data.traillon0)
nact.traillat1.extend(data.traillat1)
nact.traillon1.extend(data.traillon1)
update_buffer(self.trailbuf, np.array(
list(zip(nact.traillat0, nact.traillon0,
nact.traillat1, nact.traillon1)) +
list(zip(data.traillastlat, data.traillastlon,
list(data.lat), list(data.lon))),
dtype=np.float32))
self.traillines.set_vertex_count(2 * len(nact.traillat0) +
2 * len(data.lat))
else:
nact.traillat0 = []
nact.traillon0 = []
nact.traillat1 = []
nact.traillon1 = []
self.traillines.set_vertex_count(0)